Described is a system and method for generating a unique signature for a space. During operation, the system causes a mobile platform to make one or more passes through the space along a repeatable path. While moving through the space, the system captures an image of the space around the mobile platform. A filter is applied to the image to generate vertical bins, the vertical bins being one-dimensional vectors of the space around the mobile platform. The one-dimensional vectors are combined over time to create a two-dimensional trace, with the two-dimensional trace being a unique signature for the space.
Legal claims defining the scope of protection, as filed with the USPTO.
1. A system for generating a unique signature for a enclosed space having immobile objects, the system comprising: one or more processors and a memory, the memory being a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of: capturing a plurality of images of the enclosed space around a mobile platform as the mobile platform is caused to make two or more passes through the enclosed space along a repeatable path; applying a filter to the image to generate vertical bins, the vertical bins being one-dimensional vectors of the enclosed space around the mobile platform; and combining the one-dimensional vectors over time by stacking the one-dimensional vectors to create a two-dimensional trace, the two-dimensional trace being a unique signature for the enclosed space.
2. The system as set forth in claim 1 , wherein the system is mounted on the mobile platform and further comprising a sensor mounted on the mobile platform, the sensor generating the image of the enclosed space around the mobile platform.
3. The system as set forth in claim 2 , wherein the image is captured and filtered into the vertical bins, with the vertical bins being sent directly to a continuous classifier while the mobile platform moves through the enclosed space along the repeatable path.
4. The system as set forth in claim 2 , wherein the image is captured, filtered into the vertical bins and combined to create the two-dimensional trace while the mobile platform makes the two or more passes through the enclosed space along the repeatable path.
5. The system as set forth in claim 4 , further comprising a classifier, with the two-dimensional trace being added to the classifier for later classification.
6. The system as set forth in claim 5 , further comprising instructions for causing the mobile platform to make two or more passes through the enclosed space along the repeatable path.
7. The system as set forth in claim 1 , further comprising instructions for causing the mobile platform to make two or more passes through the enclosed space along the repeatable path.
8. A method for generating a unique signature for a enclosed space having immobile objects, the method comprising acts of: capturing a plurality of images of the enclosed space around a mobile platform as the mobile platform is caused to make two or more passes through the enclosed space along a repeatable path; applying a filter to the image to generate vertical bins, the vertical bins being one-dimensional vectors of the enclosed space around the mobile platform; and combining the one-dimensional vectors over time by stacking the one-dimensional vectors to create a two-dimensional trace, the two-dimensional trace being a unique signature for the enclosed space.
9. The method as set forth in claim 8 , wherein a sensor is mounted on the mobile platform, with the sensor generating the image of the enclosed space around the mobile platform.
10. The method as set forth in claim 9 , wherein the image is captured and filtered into the vertical bins, with the vertical bins being sent directly to a continuous classifier while the mobile platform moves through the enclosed space along the repeatable path.
11. The method as set forth in claim 9 , wherein the image is captured, filtered into the vertical bins and combined to create the two-dimensional trace while the mobile platform makes the two or more passes through the enclosed space along the repeatable path.
12. The method as set forth in claim 11 , further comprising an act of adding the two-dimensional trace to a classifier for later classification.
13. The method as set forth in claim 12 , further comprising an act of causing the mobile platform to make two or more passes through the enclosed space along the repeatable path.
14. The method as set forth in claim 8 , further comprising an act of causing the mobile platform to make two or more passes through the enclosed space along the repeatable path.
15. A computer program product for generating a unique signature for a enclosed space having immobile objects, the computer program product comprising: a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions by one or more processors, the one or more processors perform operations of: capturing a plurality of images of the enclosed space around a mobile platform as the mobile platform is caused to make two or more passes through the enclosed space along a repeatable path; applying a filter to the image to generate vertical bins, the vertical bins being one-dimensional vectors of the enclosed space around the mobile platform; and combining the one-dimensional vectors over time by stacking the one-dimensional vectors to create a two-dimensional trace, the two-dimensional trace being a unique signature for the enclosed space.
16. The computer program product as set forth in claim 15 , wherein a sensor is mounted on the mobile platform, with the sensor generating the image of the enclosed space around the mobile platform.
17. The computer program product as set forth in claim 16 , further comprising instructions for causing the one or more processors to filter the image into the vertical bins, with the vertical bins being sent directly to a continuous classifier while the mobile platform moves through the enclosed space along the repeatable path.
18. The computer program product as set forth in claim 16 , further comprising instructions for causing the one or more processors to filter the image into the vertical bins and combine the vertical bins to create the two-dimensional trace while the mobile platform makes the two or more passes through the enclosed space along the repeatable path.
19. The computer program product as set forth in claim 18 , further comprising instructions for causing the one or more processors to add the two-dimensional trace to a classifier for later classification.
20. The computer program product as set forth in claim 15 , further comprising instructions for causing the mobile platform to make two or more passes through the enclosed space along the repeatable path.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
May 19, 2016
November 3, 2020
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